ThreeDWorld Transport Challenge is a visually-guided and physics-driven task-and-motion planning benchmark. In this challenge, an embodied agent equipped with two 9-DOF articulated arms is spawned randomly in a simulated physical home environment. The agent is required to find a small set of objects scattered around the house, pick them up, and transport them to a desired final location. Several containers are positioned around the house that can be used as tools to assist with transporting objects efficiently. To complete the task, an embodied agent must plan a sequence of actions to change the state of a large number of objects in the face of realistic physical constraints.
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PushWorld is an environment with simplistic physics that requires manipulation planning with both movable obstacles and tools. It contains more than 200 PushWorld puzzles in PDDL and in an OpenAI Gym environment.
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